CN115777121A

CN115777121A - Driving support device

Info

Publication number: CN115777121A
Application number: CN202180046802.4A
Authority: CN
Inventors: 甫足刚一
Original assignee: Hitachi Astemo Ltd
Current assignee: Hitachi Astemo Ltd
Priority date: 2020-09-16
Filing date: 2021-07-27
Publication date: 2023-03-10
Also published as: WO2022059352A1; EP4216190A1; US20230237911A1; JPWO2022059352A1

Abstract

The invention provides a driving assisting device which can always estimate the opposite lane from the time of entering the intersection to the time of starting the execution of the left-right turn, thereby realizing the left-right turn at the intersection without missing the execution chance of the left-right turn under the condition of ensuring the safety. The vehicle (C) is caused to stand by at a stand-by position (Cb) where it can be determined whether or not the vehicle (E) can turn left or right by detecting a vehicle (D) following the vehicle (C) by a rear side sensor, and when it is determined that the vehicle (C) can turn left or right by crossing the intersection and the vehicle (E) can turn left or right by crossing the intersection, the vehicle (C) starts turning left or right.

Description

Driving support device

Technical Field

The present invention relates to a driving assistance device that assists driving of a vehicle.

Background

In a scene where a vehicle turns left and right by crossing an oncoming lane at an intersection, a driving assistance device has been proposed that can wait for the own vehicle to turn left and right at a position where the risk and efficiency of turning left and right are taken into consideration, depending on the degree of a blind spot of a sensor caused by waiting for the vehicle to turn left and right from the oncoming lane, while waiting for the turning left and right (see patent document 1).

Documents of the prior art

Patent document

Patent document 1: international publication No. 2016/027351

Disclosure of Invention

Problems to be solved by the invention

However, the technique described in patent document 1 has the following problems: for example, the vehicle may be left standing by in the near direction and not be corrected before the right turn vehicle group disappears, and the standby position may be corrected before the judgment as to whether the right turn crossing is possible or not.

In view of the above-described problems, an object of the present invention is to provide a driving assistance device capable of estimating an oncoming lane from the time of entering an intersection to the time of starting execution of a left/right turn, thereby enabling a left/right turn at the intersection to be achieved without missing a left/right turn execution opportunity while ensuring safety.

Means for solving the problems

The driving assistance device according to an aspect of the present invention is characterized in that the driving assistance device determines the presence of a left-right turn waiting vehicle waiting for a left-right turn lane crossing an intersection, assumes a left-right turn trajectory of the left-right turn waiting vehicle according to the size of the intersection, causes the host vehicle to wait at a waiting position where a vehicle following the host vehicle can be detected by a rear sensor and whether the left-right turn waiting vehicle can turn left or right, and starts the left-right turn of the host vehicle when it is determined that the left-right turn waiting vehicle will cross the intersection and turn left or right and the host vehicle can cross the intersection and turn left or right.

ADVANTAGEOUS EFFECTS OF INVENTION

The present invention can estimate the oncoming lane from the time of the entrance to the intersection until the start of the execution of the right/left turn, and thus can realize the right/left turn at the intersection with a low-cost sensor configuration for driving assistance, for example, without missing the right/left turn execution opportunity while ensuring safety.

Problems, configurations, and effects other than those described above will be apparent from the following description of embodiments.

Drawings

Fig. 1 is a block diagram illustrating a basic configuration of a driving assistance device according to an embodiment of the present invention.

Fig. 2 is a state transition diagram illustrating an operation of the driving assistance device according to the embodiment of the present invention.

Fig. 3 is a diagram illustrating transition conditions of the state transition diagram of fig. 2.

Fig. 4 is a diagram for explaining the operation of the driving assistance device according to the embodiment of the present invention.

Fig. 5 is a diagram for explaining the operation of the driving assistance device according to the embodiment of the present invention.

Fig. 6 is a diagram for explaining the operation of the driving assistance device according to the embodiment of the present invention.

Fig. 7 is a diagram illustrating an operation of the driving assistance device according to the embodiment of the present invention.

Fig. 8 is a diagram for explaining the operation of the driving assistance device according to the embodiment of the present invention.

Fig. 9 is a diagram illustrating an estimated distance required for collision determination in the driving assistance device according to the embodiment of the present invention.

Fig. 10 is a flowchart illustrating an operation of the driving assistance apparatus according to the embodiment of the present invention.

Detailed Description

Embodiments of the present invention will be described below with reference to the drawings. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals, and redundant description thereof will be omitted.

As shown in fig. 1, the driving assistance device 100 according to the embodiment of the present invention includes an information supply unit 1, a processing unit 2, a vehicle control unit 3, and an output unit 4, and the processing unit 2 supplies various kinds of information from the information supply unit 1 and performs calculations necessary for the operation of the driving assistance device 100. The driving assistance device 100 according to the embodiment is mounted on a vehicle and assists driving when the host vehicle C turns left or right. The host vehicle C may be an autonomous vehicle that automatically drives on a set travel route, or may be a vehicle that travels in accordance with an operation by the driver.

The information supply unit 1 includes a road information acquisition unit 11, a host vehicle position acquisition unit 12, an object detection unit 13, and a left/right turn information detection unit 14. The road information acquiring unit 11 acquires road information on which the host vehicle C can travel, and outputs the road information to the processing unit 2. The road information acquisition unit 11 is configured by, for example, a car navigation device or the like that holds a digital map as road information. The road information includes the width of the road, the radius of curvature, the size of the intersection, the number of lanes, the departure direction of the intersection into the lanes, the kind, the legal speed, and the like.

The own vehicle position acquisition unit 12 acquires the current position of the own vehicle C in the road information acquired by the road information acquisition unit 11. The vehicle position acquiring unit 12 includes a positioning device such as a Global Positioning System (GPS) receiver, a gyro sensor, a rudder angle sensor, and a vehicle speed sensor. The vehicle position acquiring unit 12 supplements the position acquired by the positioning device with the detection result of the external recognition sensor such as a gyro sensor, a rudder angle sensor, a vehicle speed sensor, and a camera and road information, and acquires the position as the current position of the vehicle C.

The object detection unit 13 detects an object around the host vehicle C. The object detection unit 13 is configured by an external recognition sensor such as a camera having an angular resolution and a range resolution, or a radar. The object detection unit 13 includes a rear-side sensor (described later) for detecting an object (a following vehicle such as a straight-ahead vehicle or a left-turn vehicle) on the rear side of the host vehicle C.

The right/left turn information detecting unit 14 detects right/left turn information indicating that the vehicle C makes a right/left turn after crossing an opposite lane (crossing intersection) at the intersection after a predetermined time, based on the current position and the traveling route of the vehicle C in the road information acquired by the road information acquiring unit 11. The right/left turn information detecting unit 14 may be constituted by the same car navigation device as the road information acquiring unit 11, for example. In a car navigation device, a travel route is set in advance by a user on a digital map as road information. The right/left turn information detecting unit 14 may detect the right/left turn information based on the operation of the turn signal by the driver.

The processing unit 2 includes an intersection entrance possibility determination unit 21, a standby vehicle determination unit 22, a unit 23 for calculating a time required for turning the own vehicle left and right, a unit 24 for calculating a headway of the own vehicle, a unit 25 for determining implementation of turning the own vehicle left and right, a unit 26 for calculating a time required for turning the standby vehicle left and right, a unit 27 for calculating a headway of the standby vehicle, a unit 28 for determining implementation of turning the standby vehicle left and right, and a state transition management unit 29. Each part constituting the processing unit 2 is expressed in a logical structural form, and may be constituted in an integrated hardware form or in a different hardware form.

When the left/right turn information is detected by the left/right turn information detecting unit 14, the intersection entrance possibility determining unit 21 determines whether the host vehicle C can enter the intersection. For example, when the signal is displayed to be able to enter the intersection by the object detection unit 13 such as a camera that functions as a traffic signal detecting unit for detecting a traffic signal at the intersection and a signal displayed on the traffic signal and there is no obstacle in front of the host vehicle C, it is determined that the host vehicle C can enter the intersection.

When the left/right turn information is detected by the left/right turn information detecting unit 14, the waiting vehicle determining unit 22 determines whether or not a waiting vehicle (oncoming left/right turn waiting vehicle) E turning left/right from the oncoming lane is waiting at the intersection indicated by the left/right turn information. The standby vehicle determination unit 22 determines the presence or absence of the standby vehicle E based on the detection result of the object detection unit 13 and the road information acquired by the road information acquisition unit 11. The standby vehicle determination unit 22 identifies the standby vehicle E by locating the detection result of the object detection unit 13 on the digital map of the road information acquisition unit 11 using the current position of the own vehicle C. The standby vehicle E includes, for example, a right/left turn standby vehicle that has entered an intersection, a right/left turn lane running vehicle that has entered an intersection, and a right/left turn display vehicle (e.g., a turn signal display) before entering an intersection.

The vehicle left/right turning required time calculation unit 23 calculates a required time Tb required for the vehicle C to complete the left/right turning from the left/right turning waiting position Cb based on the road information acquired by the road information acquisition unit 11. The left/right turn waiting position Cb at which the host vehicle C stands by is an estimated distance necessary for collision determination used for calculation of a possibility of collision between the host vehicle C and an oncoming straight-ahead vehicle or an oncoming left/right turn vehicle (a left turn vehicle in the case where the host vehicle C turns right and a right turn vehicle in the case where the host vehicle C turns left) F on the oncoming lane when the host vehicle C turns left/right across the intersection, and is a position at which it is possible to detect the following vehicle D of the host vehicle C by using a rear side sensor as the object detection unit 13 and determine whether or not the host vehicle E can turn left/right (refer to fig. 4 and 9). The presumed distance required for the collision judgment depends on the size and legal speed of the intersection based on the road information. The following vehicle D of the host vehicle C includes, for example, a straight-ahead vehicle from the rear side of the host vehicle C, and a vehicle that turns in the reverse direction of the host vehicle C from the rear side of the host vehicle C (left turn in the case of a right turn of the host vehicle C, and right turn in the case of a left turn of the host vehicle C). The vehicle turning left/right required time calculation unit 23 calculates the required time Tb based on the size of the intersection indicated by the left/right turn information detected by the left/right turn information detection unit 14 and the turning curvature of the vehicle C. The required time Tb is a time from when the host vehicle C starts turning left and right to when the host vehicle C reaches a position where the movement of the object (other vehicle) moving at the intersection is not obstructed.

The own vehicle headway calculating unit 24 calculates a headway (THW: time headway) Ta for an oncoming straight-ahead vehicle or an oncoming left-right-turn vehicle (a left-turn vehicle in the case of a right turn of the own vehicle C, and a right-turn vehicle in the case of a left turn of the own vehicle) F on the oncoming lane, in a period before the own vehicle C enters the intersection indicated by the left-right turn information detected by the left-right turn information detecting unit 14. The own vehicle headway calculation section 24 identifies the position of the oncoming straight-ahead vehicle or the oncoming right-left turn vehicle F by locating the detection result of the object detection section 13 on the digital map of the road information acquisition section 11 using the current position of the own vehicle C.

The subject vehicle left/right turn implementation determination unit 25 determines whether or not the subject vehicle C can turn left/right from the waiting position Cb crossing the intersection based on the calculation result of the subject vehicle left/right turn required time calculation unit 23, the calculation result of the subject vehicle headway calculation unit 24, the road information, the current position of the subject vehicle C, and the detection results of the object detection unit 13 relating to peripheral conditions such as an obstacle around the subject vehicle C and a pedestrian crossing the target crosswalk. For example, it is determined whether or not the oncoming straight-ahead vehicle will arrive at the intersection within the required time Tbx on the standby position Cb of the host vehicle C based on the position of the oncoming straight-ahead vehicle closest to the intersection and the legal speed of the oncoming lane, and it is determined whether or not the host vehicle C can turn left or right across the intersection from the standby position Cb.

The waiting vehicle right/left turn required time calculation unit 26 calculates a required time Te required for the right/left turn waiting vehicle E to turn right/left from the right/left turn waiting position to complete the right/left turn (waiting vehicle right/left turn required time) based on the road information acquired by the road information acquisition unit 11. At this time, the waiting vehicle turning left/right required time calculation unit 26 assumes a left/right turning trajectory of the waiting vehicle E based on the size of the intersection indicated by the road information, and calculates the required time Te. The required time Te is a time until the waiting vehicle E starts turning left and right to reach a position where movement of an object (another vehicle) moving in the intersection is not hindered.

The standby vehicle headway calculation unit 27 calculates a headway (THW) Td of the standby vehicle E with respect to the following vehicle D of the own vehicle C. The standby vehicle headway calculation unit 27 calculates the headway Td using the current position of the host vehicle C, the position of the standby vehicle E based on the detection result of the object detection unit 13, and the position and speed of the following vehicle D of the host vehicle C detected by the rear-side sensor.

The standby vehicle left/right turn implementation determination unit 28 determines whether or not the standby vehicle E can turn left/right from the standby position across the intersection based on the calculation result of the standby vehicle left/right turn required time calculation unit 26, the calculation result of the standby vehicle headway calculation unit 27, the road information, the current position of the standby vehicle E, and the detection results of the object detection unit 13 relating to peripheral conditions such as an obstacle around the standby vehicle E and a pedestrian crossing the target crosswalk. For example, it is determined whether the following vehicle D of the host vehicle C will arrive at the intersection within the required time Tex at the standby position of the standby vehicle E based on the position and speed of the following vehicle D of the host vehicle C, and it is determined whether the standby vehicle E can turn left or right across the intersection from the standby position.

The state transition management unit 29 manages the state transition of the host vehicle C at the time of the right/left turn at the intersection (to be described later) based on the determination results of the intersection entrance propriety determination unit 21, the standby vehicle determination unit 22, the host vehicle right/left turn implementation determination unit 25, and the standby vehicle right/left turn implementation determination unit 28.

The vehicle control unit 3 includes a drive unit (an internal combustion engine, a motor, and the like) that drives the host vehicle C in the front-rear direction, a brake device that brakes the host vehicle C, a steering device that changes the traveling direction of the host vehicle C, and the like. The vehicle control unit 3 controls the operation of the host vehicle C under the control of (the state transition management unit 29 of) the processing unit 2.

The output unit 4 notifies the user of various information under the control of (the state transition managing unit 29 of) the processing unit 2. The output unit 4 is constituted by, for example, a display device for displaying light, images, characters, and the like, and an output device such as a speaker for outputting voice.

Driving assistance method

An example of the driving assistance method of the driving assistance device 100 according to the embodiment will be described with reference to transition conditions of the state transition diagram of fig. 2 and the state transition diagram of fig. 3. Next, a case will be described in which the host vehicle C mounted with the driving assistance device 100 of the embodiment generates a travel path to a destination set by the user in the car navigation device, and turns right by crossing an oncoming lane at an intersection on the travel path. The following description is of a case where the host vehicle C follows a traffic regulation for specifying a left-side traffic, but the present invention can be applied to a case where a left turn is made by crossing an opposite lane even if the traffic regulation for specifying a right-side traffic is applied.

The state S1 indicates a normal road traveling state before the intersection enters. The right-turn lane traveling transits to the state S2 according to the transition condition T12.

The transition condition T12 is satisfied when the right-left turn information detecting unit 14 detects right-turn information indicating that the host vehicle C has made a right turn at the intersection after a predetermined time after crossing the oncoming lane (crossing the intersection), and the host vehicle C has entered the right-turn lane at the intersection based on the road information. The state S2 is shifted according to the shift condition T12.

The state S2 represents a traveling state on the right-turn lane at the intersection of the own vehicle C. Stops before transitioning to the stop-line of state S3 according to transition condition T23. The intersection that transits to the state S4 enters according to the transition condition T24.

The transition condition T23 is satisfied when the traffic signal at the intersection and the signal displayed on the traffic signal are displayed such that the intersection cannot be entered or an obstacle is present in the traveling direction of the host vehicle C, as a result of the intersection entrance possibility determination unit 21.

The transition condition T24 is satisfied when the traffic signal at the intersection and the signal displayed on the traffic signal are displayed so as to be accessible from the result of the intersection accessibility determination unit 21 and there is no obstacle in the traveling direction of the host vehicle C.

The state S3 represents a state in which the own vehicle C stops before the stop line on the right-turn lane of the intersection. The intersection that transits to the state S4 enters according to the transition condition T34.

The transition condition T34 is satisfied when the traffic signal at the intersection and the signal displayed on the traffic signal are displayed so as to be accessible from the result of the intersection accessibility determination unit 21 and there is no obstacle in the traveling direction of the host vehicle C.

The state S4 indicates a state in which the host vehicle C enters the intersection without stopping before the stop line on the right-turn lane of the intersection. The right turn standby for transition to the state S5 is performed according to the transition condition T45. The right-turn traversal to transition to state S6 according to transition condition T46 begins.

The transition condition T45 is satisfied when there is a right turn waiting vehicle (that is, there is a blind spot caused by the right turn waiting vehicle) or the own vehicle cannot pass through the vehicle in the right turn direction, based on the results of the waiting vehicle determination unit 22 and the own vehicle right/left turn implementation determination unit 25.

The transition condition T46 is satisfied when the host vehicle can traverse in the right turn without facing the right turn standby vehicle (i.e., without a blind spot caused by facing the right turn standby vehicle) according to the results of the standby vehicle determination unit 22 and the host vehicle left-right turn implementation determination unit 25.

The state S5 represents a state in which the host vehicle C is waiting at the right/left turn waiting position Cb in the intersection. The right-left turn waiting position Cb at which the host vehicle C stands by is a position at which it is possible to estimate a collision determination-required estimated distance used for calculation of a possibility of collision between the host vehicle C and an opposing straight-ahead vehicle or a left-turn vehicle F on an opposing lane when the host vehicle C makes a right turn on the opposing lane crossing an intersection, and to determine whether or not the right turn can be made to the right-turn waiting vehicle E by detecting a following vehicle D of the host vehicle C by a rear side sensor serving as the object detection unit 13. Fig. 4 shows an example of this state, in which the host vehicle C is waiting to turn right with the crosswalk near the standby position Cb. In this case, the case is shown where the host vehicle C can estimate the estimated distance required for collision determination when the opposite-direction straight-ahead vehicle F on the opposite lane makes a right-left turn with the host vehicle C. The right-turn traversal to transition to state S6 according to transition condition T56 begins.

The transition condition T56 is satisfied when the own vehicle can be traversed by turning right without being able to turn right with respect to the standby vehicle or when the own vehicle can be traversed by turning right with respect to the standby vehicle based on the results of the standby vehicle determination unit 22, the own vehicle right/left turn implementation determination unit 25, and the standby vehicle right/left turn implementation determination unit 28. Fig. 5 shows a state in which the oncoming right-turn vehicle E becomes right-turn-enabled and the own vehicle C has started right-turn crossing. As shown in fig. 6, since the host vehicle C starts traversing the oncoming lane before a new blind spot is formed by the following vehicle that is heading for the right-turn standby vehicle E, the surrounding situation in the traveling direction of the host vehicle C, such as the vehicle on the oncoming lane and the crosswalk that traverses the target, can always be estimated without interruption, so that the right-left turn at the intersection can be executed while securing safety.

Here, the operation of the waiting vehicle left/right turn implementation determination unit 28 will be described. Fig. 7 shows a state where the host vehicle C, the preceding vehicle B, and the following vehicle D enter the intersection. Here, a situation in which the preceding vehicle B is traveling straight at the intersection and the host vehicle C is waiting to turn right will be described with reference to fig. 8. In fig. 8, the oncoming right-turn standby vehicle E of the oncoming lane is in a state of waiting for right-turn crossing before the preceding vehicle B passes. The waiting vehicle left-right turn implementation determining unit 28 determines the possibility of collision between the right turn waiting vehicle E and the following vehicle D at the own vehicle waiting position Cb, based on the information on the position and speed of the following vehicle D and the position of the right turn waiting vehicle E given by the rear-side sensor. Further, a right turn trajectory toward the right turn standby vehicle E is assumed according to the size of the intersection indicated by the road information. At this time, the standby position Cb of the own vehicle C is set so as to satisfy (secure) the estimated distance necessary for collision determination used in the calculation of the possibility of collision between the right-turn standby vehicle E and the following vehicle D. The presumed distance required for the collision judgment depends on the size and legal speed of the intersection based on the road information. For example, the waiting vehicle right/left turn implementation determination unit 28 may determine that the right turn waiting vehicle E can turn right (from the waiting position) to cross the intersection when it is determined that there is no possibility of collision between the right turn waiting vehicle E and the following vehicle D of the own vehicle C based on the estimated distance required for collision determination or the like.

Fig. 9 shows a specific example of the estimated distance required for collision determination. The estimated distance required for collision judgment in fig. 8 can be represented as the product of the time required for the standby vehicle to turn left and right, which is calculated by the standby vehicle left and right turning time calculation unit 26, and the legal speed of the road of the straight-ahead vehicle (the preceding vehicle B or the following vehicle D). When the rear-side sensor is assumed to be provided at the rear end of the vehicle, the distance from the front end of the vehicle to the rear-side sensor mounting position can be regarded as the total length of the vehicle. In this case, the waiting position Cb at which the host vehicle C waits may be set to be near (the estimated distance required for collision determination of the right-turn waiting vehicle E, the total length of the host vehicle, and the recognizable distance of the adjacent lane following vehicle from the rear side sensor) based on the intersection position of the trajectories of the straight-ahead vehicle (the preceding vehicle B or the following vehicle D) and the right-turn waiting vehicle E.

Even if the rear-side sensor has a short visual recognition distance like a vehicle peripheral camera, the sensor configuration that is normally used for driving assistance can be used in combination with the front sensor to satisfy the estimated distance required for collision determination.

Returning to fig. 2 and 3, the state S6 shows a state in which the host vehicle C starts turning right at the intersection and is performing a right turn operation. The right turn to the state S7 is completed according to the transition condition T67.

The own vehicle C reaches a position not to hinder the movement of the object (other vehicle) moving in the intersection after starting the right turn so that the transition condition T67 is established.

The state S7 represents a state in which the host vehicle C has completed the right turn operation in the intersection. The vehicle shifts to the ordinary travel in the state S1 according to the shift condition T71.

As for the transition condition T71, the state S1 may be immediately shifted without particularly having a condition.

Next, an example of a driving assistance method of the driving assistance device 100 according to the embodiment will be described with reference to the flowchart of fig. 10. As in the description using fig. 2 and the like, the following description will also describe a case where the host vehicle C mounted with the driving assistance device 100 of the embodiment generates a travel path to a destination set in the car navigation device by the user and turns right by crossing an opposite lane at an intersection on the travel path.

First, in step S101, the processing unit 2 acquires the current position of the host vehicle C in the road information and the detection result by the object detection unit 13 from the host vehicle position acquisition unit 12 at a predetermined sampling cycle.

In step S102, the right/left turn information detecting unit 14 determines whether or not right/left turn information indicating that the host vehicle C turns right after crossing the oncoming lane (crossing the intersection) at the intersection after a predetermined time is detected. If the left/right turn information is not detected, the process proceeds to step S103, and if the left/right turn information is detected, the process proceeds to step S104. In step S103, the host vehicle C continues the usual travel, and the process returns to step S101.

In step S104, the own vehicle headway calculation unit 24 calculates the headway Ta for the oncoming straight-ahead vehicle or the oncoming left-turn vehicle F on the basis of the road information, the current position of the own vehicle C, and the detection result of the object detection unit 13.

In step S105, the intersection entrance possibility determination unit 21 determines whether the host vehicle C can enter the intersection. For example, when the signal is displayed to be able to enter the intersection and there is no obstacle in front of the host vehicle C by the object detection unit 13 such as a camera that functions as a traffic signal detecting unit that detects a traffic signal at the intersection and a signal displayed on the traffic signal, the intersection entrance possibility determination unit 21 determines that the host vehicle C can enter the intersection. If the intersection cannot be entered, the process proceeds to step S106, and if the intersection can be entered, the process proceeds to step S107.

In step S106, (the state transition management unit 29 of) the processing unit 2 guides the host vehicle C so that the host vehicle C stops in front of the stop line that becomes the boundary of the intersection, and returns the process to step S101. When the host vehicle C is an autonomous vehicle, the processing unit 2 controls the vehicle control unit 3 to drive the host vehicle C so as to stop in front of the stop line. When the host vehicle C is a vehicle that travels in accordance with an operation by the driver, the processing unit 2 guides the driver by voice, image, or the like through the output unit 4 so that the host vehicle C stops in front of the stop line. The processing unit 2 may stop the running host vehicle C by braking in front of the stop line.

In step S107, the waiting vehicle determination unit 22 determines whether or not a waiting vehicle E turning right from the oncoming lane (more specifically, a waiting vehicle E crossing the traveling lane of the own vehicle from the oncoming lane) is waiting at the intersection indicated by the right-left turn information, based on the detection result of the object detection unit 13 and the road information acquired by the road information acquisition unit 11. The standby vehicle E includes, for example, a right-turn standby vehicle that has entered the intersection, a right-turn lane traveling vehicle that has entered the intersection, and a right-turn display vehicle (for example, a turn signal display) before the intersection enters. If there is no waiting vehicle E, the process proceeds to step S108, and if there is a waiting vehicle E, the process proceeds to step S115.

In step S108, the own vehicle headway calculation unit 24 calculates the headway Ta for the oncoming straight-ahead vehicle or the oncoming left-turning vehicle F on the basis of the road information, the current position of the own vehicle C, and the detection result of the object detection unit 13.

In step S109, the vehicle turning left/right required time calculation unit 23 calculates the required time Tb required for the vehicle C to turn right from the left/right waiting position Cb until the completion of the turn (the vehicle turning left/right required time) based on the road information acquired by the road information acquisition unit 11.

In step S110, the subject vehicle left/right turn implementation determination unit 25 determines whether or not the subject vehicle C can turn right from the waiting position crossing Cb based on the calculation result of the subject vehicle left/right turn required time calculation unit 23, the calculation result of the subject vehicle headway calculation unit 24, the road information, the current position of the subject vehicle C, and the detection results of the object detection unit 13 relating to peripheral conditions such as an obstacle around the subject vehicle C and a pedestrian crossing the target crosswalk. If the right turn is not possible, the process proceeds to step S111, and if the right turn is possible, the process proceeds to step S114.

In step S111, the processing unit 2 determines whether or not the own vehicle C is waiting for a right turn at the waiting position Cb. If the standby state is not being established, the process proceeds to step S112, and if the standby state is being established, the process proceeds to step S113.

In step S112, (the state transition management unit 29 of) the processing unit 2 guides the own vehicle C to the standby position Cb, and returns the process to step S101. When the host vehicle C is an autonomous vehicle, the processing unit 2 controls the vehicle control unit 3 to drive the host vehicle C so as to stop at the standby position Cb. When the host vehicle C is a vehicle that travels in accordance with an operation by the driver, the processing unit 2 guides the driver through the output unit 4 so that the host vehicle C stops at the standby position Cb. The processing unit 2 may stop the running host vehicle C at the standby position Cb by braking.

Here, the right turn waiting position Cb at which the host vehicle C stands by is a position at which a collision determination required estimated distance used for calculation of a possibility of collision between the host vehicle C and an opposing straight-ahead vehicle or an opposing left-turn vehicle F on an opposing lane when the host vehicle C makes a right turn on the opposing lane and traverses the intersection can be estimated, and at which a right turn determination required estimated distance used for calculation of a possibility of collision between the right turn waiting vehicle E and the opposing left-turn vehicle D can be satisfied (secured), while a subsequent vehicle D of the host vehicle C is detected by a rear side sensor serving as the object detecting unit 13 to determine whether the right turn of the opposing right turn waiting vehicle E is possible.

In step S113, (the state transition management unit 29 of) the processing unit 2 keeps the own vehicle C standing by at the standby position Cb.

In step S114, (the state transition management unit 29 of) the processing unit 2 guides the host vehicle C so that the host vehicle C starts turning right, and returns the process to step S101. When the host vehicle C is an autonomous vehicle, the processing unit 2 drives the host vehicle C to start a right turn by controlling the vehicle control unit 3. When the host vehicle C is a vehicle that travels in accordance with an operation by the driver, the processing unit 2 guides the driver by voice, images, or the like through the output unit 4 so that the host vehicle C starts turning right.

In step S115, (the waiting vehicle left-right turn implementation determination unit 28 of) the processing unit 2 determines the presence or absence of the following vehicle D behind the own vehicle, based on the detection result of the object detection unit 13 and the road information acquired by the road information acquisition unit 11. The following vehicle D of the host vehicle C includes, for example, a straight-ahead vehicle from the rear side of the host vehicle C and a left-turn vehicle turning left from the rear side of the host vehicle C. If there is a following vehicle D, the process proceeds to step S116, and if there is no following vehicle D, the process proceeds to step S120.

In step S116, the standby vehicle headway calculation unit 27 calculates the headway Td of the standby vehicle E with respect to the following vehicle D of the own vehicle C, based on the current position of the own vehicle C, the position of the standby vehicle E based on the detection result of the object detection unit 13, and the position and speed of the following vehicle D of the own vehicle C detected by the rear-side sensor.

In step S117, the waiting vehicle right/left turn required time calculation unit 26 calculates a required time Te for the right turn waiting vehicle E to complete the right turn from the right/left turn waiting position (waiting vehicle right/left turn required time) based on the road information acquired by the road information acquisition unit 11. At this time, the waiting vehicle right/left turn required time calculation unit 26 calculates the required time Te by assuming a right/left turn trajectory of the waiting vehicle E based on the size of the intersection indicated by the road information.

In step S118, the standby vehicle right/left turn implementation determination unit 28 determines whether or not the standby vehicle E can turn right from the standby position across the intersection based on the calculation result of the standby vehicle right/left turn required time calculation unit 26, the calculation result of the standby vehicle headway calculation unit 27, the road information, the current position of the standby vehicle E, and the detection results of the object detection unit 13 relating to the peripheral conditions such as the obstacle around the standby vehicle E and the pedestrian crossing the target crosswalk. If the vehicle cannot turn right, the process proceeds to step S119, and the process shifts to S111 for the standby prediction (without performing S110 for determining that the own vehicle is likely to turn right). In the case of the right turn enabling, the process proceeds to step S120, so that the process shifts to S108 of right turn execution prediction.

That is, when there is no following vehicle D behind the own vehicle or when there is a following vehicle D behind the own vehicle but the waiting vehicle E can turn right by crossing the intersection from the waiting position, the process proceeds to step S120, and the process shifts to S108 for right turn execution prediction. If the following vehicle D and the waiting vehicle E at the rear side of the host vehicle cannot turn right by crossing the intersection from the waiting position, the process proceeds to step S119, and the process proceeds to step S111 of waiting prediction (without performing S110 of determining that the host vehicle is likely to turn right).

As described above, the driving assistance device 100 according to the embodiment determines the presence of the right/left turn waiting vehicle E waiting for the right/left turn lane crossing at the intersection, assumes the right/left turn trajectory of the right/left turn waiting vehicle E based on the size of the intersection, causes the host vehicle C to stand by at the standby position Cb where the host vehicle D following the host vehicle C can be detected by the rear side sensor to determine whether the right/left turn waiting vehicle E can turn right/left, and starts the right/left turn of the host vehicle C when it is determined that the right/left turn waiting vehicle E will cross the intersection to turn right/left and the host vehicle C can cross the intersection to turn right/left.

As described above, according to the driving assistance device 100 of the embodiment, the right/left turn at the intersection can be performed with a low-cost sensor configuration for driving assistance, for example, without missing the right/left turn execution opportunity while ensuring the safety in the state where the oncoming lane is estimated all the way from the time of the entrance at the intersection to the start of the right/left turn execution.

The present invention includes various modifications, and is not limited to the above embodiments. For example, the above embodiments are described in detail to explain the present invention in an easily understandable manner, and are not necessarily limited to all the configurations described.

Further, each of the above-described configurations, functions, processing units, processing methods, and the like may be partially or entirely realized in hardware by designing them with an integrated circuit, for example. The above-described configurations, functions, and the like may be realized by software by a processor interpreting and executing a program for realizing the functions. Information such as programs, tables, and files for realizing the respective functions can be stored in a storage device such as a memory, a hard disk, or an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.

Further, the control lines and the information lines are shown as what is considered necessary for the description, and not necessarily all of the control lines and the information lines are shown in the product. In practice, it is believed that almost all of the components are connected to each other.

Industrial applicability

According to the present invention, it is possible to provide a driving assistance device that can always estimate an oncoming lane from the time of entering an intersection to the time of starting execution of a left/right turn, thereby enabling execution of a left/right turn at an intersection with a low-cost sensor configuration for driving assistance, for example, without missing a right/left turn execution opportunity while ensuring safety.

Description of the symbols

1 … information supply unit

2 … treatment section

3 … vehicle control unit

4 … output part

11 … road information acquisition unit

12 … own vehicle position acquiring unit

13 … object detecting section (rear side sensor)

14 … left and right turn information detecting part

21 … intersection entrance possibility determination section

22 … standby vehicle determination unit

23 … calculation section for time required for left and right turning of own vehicle

24 … head time calculating section of self vehicle

25 … left/right turn execution determination unit for own vehicle

26 … calculating section for time required for left and right turn of standby vehicle

27 … head time calculating unit for standby vehicle

28 … waiting vehicle right and left turn implementation determination unit

29 … state transition management section

100 … driving auxiliary device

B … leading vehicle

C … self vehicle

Cb … Standby position

D … follow-up vehicle

E … facing left and right turn standby vehicle

F … is directed to a straight-ahead vehicle or a right-left turning vehicle.

Claims

1. A driving assistance device characterized in that,

judging the existence of the opposite left-right turn waiting vehicle waiting for crossing the opposite lane of the left-right turn at the intersection,

the left and right turning track of the vehicle waiting for left and right turning is assumed according to the size of the intersection,

causing the own vehicle to stand by at a stand-by position where a following vehicle of the own vehicle can be detected by a rear side sensor and whether or not the left-right turn of the stand-by vehicle for left-right turn can be determined,

and starting the left-right turn of the own vehicle when it is determined that the pair of left-right turn standby vehicles will turn left and right across the intersection and the own vehicle can turn left and right across the intersection.

2. The driving assistance apparatus according to claim 1,

the waiting position is a position that satisfies an estimated distance required for collision determination used in calculation of a possibility of collision between a following vehicle of the own vehicle and the oncoming left-right-turn waiting vehicle.

3. The driving assist device according to claim 1,

the standby position is a position at which an estimated distance required for collision determination used in calculation of a possibility of collision between the oncoming straight-ahead vehicle or the oncoming left-right-turn vehicle on the oncoming lane and the own vehicle can be estimated.

4. The driving assistance apparatus according to claim 1,

and judging whether the left-right turn standby vehicle can turn left or right across the intersection according to at least one of time required for the left-right turn standby vehicle to turn left or right, standby vehicle headway of the left-right turn standby vehicle relative to a vehicle subsequent to the self vehicle, road information, the current position of the left-right turn standby vehicle, or the surrounding condition of the left-right turn standby vehicle or a target crosswalk.

5. The driving assist device according to claim 1,

and when judging that the left-turn and right-turn standby vehicle and the subsequent vehicle of the self vehicle are not possible to collide, judging that the left-turn and right-turn standby vehicle can cross the intersection.

6. The driving assistance apparatus according to claim 1,

and determining whether the vehicle can turn left or right by crossing the intersection based on at least one of time required for the vehicle to turn left or right, headway of the vehicle relative to an oncoming straight-ahead vehicle or an oncoming left or right-turn vehicle on the oncoming lane, road information, a current position of the vehicle, or a surrounding situation of the vehicle or a crossing target crosswalk.

7. The driving assist device according to claim 1,

the right-left turn standby vehicles comprise right-left turn standby vehicles which enter the intersection, right-left turn lane running vehicles which enter the intersection, or right-left turn display vehicles before the intersection enters.

8. The driving assistance apparatus according to claim 1,

the following vehicle of the host vehicle includes a straight-ahead vehicle from a rear side of the host vehicle or a vehicle that turns from the rear side of the host vehicle in a direction opposite to the host vehicle.